Walking assistance device

Abstract

The present invention provides a walking assistance device comprising a pelvis support member ( 10 ) adapted to be worn on a hip of a wearer; a thigh support member ( 20 ) adapted to be worn on a thigh of the wearer; a leg support member ( 40 ) adapted to be worn on a leg of the wearer; a knee joint hinge ( 60 ) disposed at a position corresponding to a side part of a knee of the wearer and connecting the leg support member ( 40 ) to the thigh support member ( 20 ) in a manner that enables back-and forth rotation of the leg support member ( 40 ) with respect to the thigh support member ( 20 ); and a power generator assembly ( 100 ) mounted to the pelvis support member ( 10 ) at a position corresponding to a side part of a hip joint of the wearer; wherein the power generator assembly ( 100 ) comprises a hip joint power generator ( 110 ) and a knee joint power generator ( 120 ) each having an output member ( 116, 126 , respectively), with the output member ( 116 ) of the hip joint power generator ( 110 ) being connected to the thigh support member ( 20 ) in a power-transmittable manner and the output member ( 126 ) of the knee joint power generator ( 120 ) being connected to the leg support member ( 40 ) via a power transmitting mechanism ( 90 ) which transmits power generated by the knee joint power generator ( 120 ) to the leg support member ( 40 ).

1. A walking assistance device comprising:
 a pelvis support member adapted to be worn on a hip of a wearer; 
 a thigh support member adapted to be worn on a thigh of the wearer; 
 a leg support member adapted to be worn on a leg of the wearer; 
 a knee joint hinge disposed at a position corresponding to a side part of a knee of the wearer and connecting the leg support member to the thigh support member in a manner that enables back-and forth rotation of the leg support member with respect to the thigh support member; and 
 a power generator assembly mounted to the pelvis support member at a position corresponding to a side part of a hip joint of the wearer; 
 wherein the power generator assembly comprises a hip joint power generator and a knee joint power generator each having an output member, with the output member of the hip joint power generator being connected to the thigh support member in a power-transmittable manner and the output member of the knee joint power generator being connected to the leg support member via a power transmitting mechanism which transmits power generated by the knee joint power generator to the leg support member wherein the power generator assembly is supported at the pelvis support member via a hinge in a manner that enables the power generator assembly to rotate with respect to the pelvis support member in a lateral direction of the wearer. 
 
     
     
       2. The walking assistance device according to  claim 1 , wherein the power generator assembly further comprises a fixed case member which is mounted on the pelvis support member, and the hip joint power generator and the knee joint power generator each comprise an electric motor having a stator member and a rotor member connected to the corresponding output member, the stator member of the hip joint power generator being fixedly attached to the fixed case member, and the stator member of the knee joint power generator being fixedly attached to the output member of the hip joint power generator and connected to the rotor member of the hip joint power generator. 
     
     
       3. The walking assistance device according to  claim 2 , further comprising:
 a first stopper mechanism for determining a maximum rotation angle range of the rotor member of the hip joint power generator with respect to the fixed case member; and 
 a second stopper mechanism for determining a maximum rotation angle range of the rotor member of the knee joint power generator with respect to the rotor member of the hip joint power generator. 
 
     
     
       4. The walking assistance device according to  claim 3 , further comprising a third stopper mechanism for determining a maximum rotation angle range of the rotor member of the knee joint power generator with respect to the fixed case member. 
     
     
       5. The walking assistance device according to  claim 1 , wherein the knee joint hinge has a hinge element enabling the knee joint hinge to rotate in a lateral direction of the wearer. 
     
     
       6. The walking assistance device according to  claim 1 , wherein the thigh support member comprises a frontal thigh pad for abutting the frontal part of the thigh of the wearer, and a dorsal thigh pad for abutting the dorsal part of the thigh of the wearer. 
     
     
       7. The walking assistance device according to  claim 1 , wherein the leg support member comprises a frontal leg pad for abutting the frontal part of the leg of the wearer near the knee and a dorsal leg pad, positioned at a lower height compared to the frontal pad, for abutting the dorsal part of the leg of the wearer near a malleolus. 
     
     
       8. The walking assistance device according to  claim 1 , further comprising:
 a foot support member for supporting a foot of the wearer; 
 a foot joint hinge disposed at a position corresponding to a side part of a foot joint of the wearer and connecting the foot support member to the leg support member in a manner that enables back-and-forth rotation of the foot support member with respect to the leg support member. 
 
     
     
       9. The walking assistance device according to  claim 8 , wherein the foot support member comprises a sole support portion for supporting a sole of the wearer and receiving floor reaction force. 
     
     
       10. The walking assistance device according to  claim 1 , wherein the power transmitting mechanism forms a parallelogram linkage structure along with a vertical bar. 
     
     
       11. The walking assistance device according to  claim 1 , wherein the power transmitting mechanism comprises a flexible wire connecting the thigh support member to the knee joint hinge and a tension-providing member for selectively providing tension to the flexible wire using power generated by the knee joint power generator.